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In the ActReMa experiment, a robot delivers parts to a process station. The robot is equipped with a 3D scanning sensor. It must recognize objects in a box and grasp them. The experiment partners started their work according to the plan. For two scenarios: a mobile robot and a stationary robot, the sensor placement has been...
[Last edited
Jul 28, 2011
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Aim of the project: The LearnBiP experiment aims at improving the success rate in Bin-picking applications by learning and the use of dexterous hands. Current bin-picking systems use hand defined grasp positions as a basis to grasp objects in the bin. We want to improve this approach by incorporating the experience gained...
[Last edited
Aug 8, 2011
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The experiment partners continued work on object recognition, grasp selection, and motion planning for picking objects out of a transport box. The primitive-based object recognition has been accelerated and made more robust. Now, 2D contours are also considered for recognition. The best visible object is selected. Grasps are...
[Last edited
Sep 27, 2011
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This proposal is to carry out the application study in experiment of using dexterous robot hands for deboning operation which is laborious and less safe for human operators as a pioneering study of establishing a hyper-flexible work cell for cutting, deboning and muscle extraction operation in meat industry. The proposed...
[Last edited
Sep 30, 2011
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During the last two months the consortium has been dealing with minor problems arising and further preparations for the real world experiments. All systems are now ready for starting experiments within October. - The 2-finger Scape setup has been used to form a baseline to compare further results to. A video showing the...
[Last edited
Oct 7, 2011
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The Metronom 3D sensor has been mounted on the mobile robot Dynamaid. Its measurements are more precise and less noisy than Kinect measurements. The experiment partners started work on the learning of object models from examples and active object recognition.
For the learning of object models, scans from different views are...
[Last edited
Nov 27, 2011
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An intuitive user interface for SCARA robots was implemented allowing to move the robot by dragging its arm in the HMI. The tripod IKP was solved and implemented analytically. An analytical solution for the DKP was found. The project partners Schunk and IPT agreed to additionally characterize a 6 DoF modular elbow manipulator...
[Last edited
Nov 30, 2011
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A camera for observing the working area of the precision manipulator “Commander6” was integrated for automated pick up of optical components. For systematically designing tripod kinematics based on flexures for higher precision and step resolution a design methodology was worked out for realizing the design objective of a...
[Last edited
Mar 30, 2012
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For operating the robot and the peripherals a graphical user interface (GUI) has been implemented. The GUI offers functionalities for teaching robot poses, for commanding peripheral devices, and to save and load programs. Using the GUI a tool exchange procedure was programmed. The motion resolution of the micromanipulator was...
[Last edited
May 31, 2012
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The construction of the tripod micromanipulator has been finished. The concept includes high precision motion resolution for tip and tilt angles as well as Z-direction, mechanical protection, and integrated machine vision. Image processing routines have been implemented for identifying lenses of different types and to...
[Last edited
Jul 30, 2012
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